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/usr/lib/radare/bin/daemon is in radare-common 1:1.5.2-6.

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The actual contents of the file can be viewed below.

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#!/bin/sh
#
# Run radare instance as a daemon
#

if [ -z "$FIFO" ]; then
	FIFO="/tmp/radare-daemon.fifo"
fi

if [ -z "$1" ]; then
	echo "Usage: rsc daemon [radare-args]"
	echo "For example:"
	echo " $ FIFO=/tmp/a rsc daemon -d ls"
	echo "Use the 'FIFO' environment var to define the io port"
	exit 1
fi

mkfifo $FIFO
while : ; do
	cat $FIFO
done | tee | radare $@